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Figure 7-2. The underactuated grabber mechanism of the LEGO submarine 8299. The piston first closes the grabber and then raises it. Now you know the state-of-the-art in underactuated LEGO grabbers. Among the many unofficial LEGO robots featuring underactuated grabbers are Ben Williamson s FetchBot (1998), Jonathan Knudsen s Minerva (1999), and Philippe Hurbain s Barrel Collector Robot (2003), all based on the RCX system. The Mine Sweeper becomes part of that unofficial LEGO robots rank it uses the same principle as the barcode truck. The arm grabs, lifts, and brings the mine up to the opening of the hold if the motor is turning forward. It then releases the mine into the hold and comes back down if the motor s turning direction is reversed. The easiest and most direct way to understand how this double action is achieved is to build the robot and observe it in action; see the photos in Figure 7-3.

That means, to get a quality 8 10-inch photo, you need a camera with at least 5 megapixels for a 250 dpi print and 72 megapixels for a 300 dpi print The first commercial Android phone, the T-Mobile G1, has a 32-megapixel camera That s enough resolution to print a 300 dpi 5 7-inch photo, but no larger There s no flash on the camera, so it doesn t handle low light well The Nexus One and Motorola DROID cameras both ship with 5-megapixel cameras with flash The Sony Ericsson Xperia X10 has an 8-megapixel camera, as does the HTC EVO In fact, the EVO has an 8-megapixel camera on the back and a 13-megapixel camera on the front for video conferencing.

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Figure 7-3. The Mine Sweeper s grabbing sequence (the frontal scanner is removed) Now, take a look at Figure 7-4. Here you can see the arm mechanism extracted from the robot context. At the base of the actions switching stands an opposing force. Here the force is gravity, while in the submarine, the force was produced by the compressed spring.

YOU RE DRAFTED!

Figure 7-4. The Mine Sweeper s grabber arm is extracted from the robot s context. The sequence of actions is determined by the force of gravity and by the limited run of the fingers. In Figure 7-4a, the arm is hanging vertically and the motor starts to move in the direction specified by the arrow; the light-colored parts are the ones that can move freely. The axle that transmits the driving torque is not integral with the 7-long white beams that form the arm frame; the axle rotates freely in the beam holes, and the geartrain brings its movement to the fingers. The arm is prevented from lifting by the force of gravity, which has no influence on the fingers movement. So, the driving torque flows towards the fingers, because they are completely free to move. In Figure 7-4b, the fingers are completely closed, and the driving torque is thus redirected to raise the arm. In Figure 7-4c, the axle has become integral with the arm frame, because the geartrain is blocked by the closed fingers. The axle can t help but lift the whole structure. This sequence a b c in Figure 7-4 is matched with the photos a b c of Figure 7-3. If the sequence ends here, the robot has collected an object: reversing the motor direction, the object will be lowered and released. To store the mines into the hold, the sequence must be completed, as shown in Figure 7-3, photos d, e, and f.

Every phone I ve tried has had a second or two lag in response when you press the button to snap a photo, but that s likely to improve as hardware improves Video resolution is lower than print resolution High-definition (HD) video is at maximum just slightly bigger than 2 megapixels However, video struggles against the amount of space it takes up, so most phones do not support HD video at this time..

The dark objects collected are stored into a space found in the depths of the robot. Considering a standard mine, one built with two 2 4 black bricks, the robot can collect more than ten of them. Not bad at all for our purposes!

It seems like most of the stories here are about people actively trying to become a DBA. I kept waiting for the scenario where the manager comes in and says to the developer, Hey you, you re the DBA now.

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